Normalization of the Pacejka Tire Model

This paper reviews the Pacejka tire performance model that relates the slip to the tire adhesion forces at various normal forces and camber. This model is then presented in a normalized form so the degradation in the coefficient of friction and the value of slip that results in a peak force can be expressed as a function of normal load and camber. With this form of expression, μ and the maximizing slip can be identified directly. Knowing how these factors vary with load and other parameters will allow engineers to determine the best suspension settings.